KR20200105916A - Robot vacuum cleaner and its control method - Google Patents

Abstract

The robot cleaner of the present invention includes a main body having a driving unit for movement; An obstacle detection sensor provided in the body and detecting an obstacle; A tilt measurement sensor for obtaining tilt information of the main body; A storage unit for storing a cleaning map created based on a danger area including an area where an obstacle is located; And a control unit for performing cleaning while the main body avoids driving in a dangerous area written on the cleaning map, wherein the control unit determines whether the main body can travel with respect to an obstacle based on the tilt information of the main body. And, when it is determined that the obstacle is an obstacle to which the movement of the main body is restricted, the area including the obstacle is matched to the danger area on the cleaning map.

Description

Robot vacuum cleaner and its control method

The present invention relates to a robot cleaner and a control method thereof (robto cleaenr and method for controlling the same).

In general, a vacuum cleaner is a home appliance that sucks and removes foreign substances from the floor. Among these cleaners, a cleaner that automatically cleans is called a robot cleaner. The robot cleaner sucks and cleans foreign substances on the floor while moving by the driving force of a motor operated by a battery. In addition, the robot cleaner is equipped with an obstacle sensor to avoid obstacles while driving and cleans itself while driving.

In order for the robot cleaner to clean all the areas while traveling by itself, it must be able to create a cleaning map and determine a cleaning area, such as an area that has been cleaned and an area that has not been cleaned, within the created cleaning map.

In Korean Patent Application Publication No. 10-2011-0053767 (published date: May 24, 2011), a robot cleaner is disclosed.

The robot cleaner may include: a driving unit driving a cleaning area when a driving mode command is input; A sensing unit that detects an object located in the cleaning area while driving according to the driving mode command; And a control unit for creating a cleaning map for the cleaning area based on the location information of the obstacle when the detected object is an obstacle, and controlling a cleaning operation based on the created cleaning map when a cleaning mode command is input. Include.

Meanwhile, in the process of creating a cleaning map, the robot cleaner may not avoid the detected obstacle and may be stopped due to the obstacle.

In this case, the robot cleaner may perform an escape algorithm for leaving the area where the stop occurs due to the obstacle. The escape algorithm may be, for example, a series of operation rules for leaving a point where a stop occurs, such as changing a driving direction or driving in a reverse direction and then driving again.

When the point where the stop has occurred is deviated by the escape algorithm, the robot cleaner may register the point as an obstacle in the cleaning map.

On the other hand, when it is not possible to get out of the point by the escape algorithm, a slip occurs in the cleaning map created by the robot cleaner, and an obstacle misregistration problem may occur in which one obstacle is registered in duplicate.

For example, due to the occurrence of slipping on the cleaning map, it may be determined as an area that cannot be cleaned even though it is a cleanable area. Accordingly, the reliability of the cleaning instruction may be deteriorated, and thus, a problem may arise that the cleaning efficiency of the robot cleaner does not meet the user's expectations.

The present invention provides a robot cleaner and a control method thereof that improves cleaning efficiency by improving the reliability of a cleaning map.

The present invention provides a robot cleaner and a control method thereof in which driving performance is improved by self-determining whether a sensed obstacle can be avoided.

A robot cleaner according to an aspect includes a main body having a driving unit for movement; An obstacle detection sensor provided in the body and detecting an obstacle; A tilt measurement sensor for obtaining tilt information of the main body; A storage unit for storing a cleaning map created based on a danger area including an area where an obstacle is located; And a control unit for performing cleaning while the main body avoids driving in a dangerous area written on the cleaning map, wherein the control unit determines whether the main body can travel with respect to an obstacle based on the tilt information of the main body. And, when it is determined that the obstacle is an obstacle to which the movement of the main body is restricted, the area including the obstacle is matched to the danger area on the cleaning map.

The danger area may include an area surrounding the area where the obstacle is located.

The tilt measurement sensor may measure a tilt of the body in a traveling direction and a tilt in a direction crossing the traveling direction of the main body.

The control unit may recognize a level of inclination of the body with respect to the obstacle based on two inclinations measured by the inclination measurement sensor.

The control unit calculates a distance between the main body and the obstacle based on two inclinations measured by the tilt measurement sensor, and uses the calculated distance between the main body and the obstacle to determine the inclination of the main body with respect to the obstacle. You can recognize the level.

The distance between the body and the obstacle is inversely proportional to the inclination of the body with respect to the obstacle.

When the distance between the main body and the obstacle is less than a preset value stored in the storage unit, the control unit may match an area including the obstacle as the danger area on the cleaning map.

When the distance between the main body and the obstacle is greater than a first set value, the control unit may match the cleaning map as a first driveable area that can be overcome by running normally in an area including the location of the obstacle.

The control unit, when the distance between the main body and the obstacle falls within a range of the first set value to a second set value smaller than the first set value, the main body rotates to overcome the area containing the obstacle. The second possible driving area may be matched to the cleaning map.

The control unit may acquire direction information of the obstacle with respect to the main body based on information about the inclination in each direction measured by the inclination sensor.

A method for controlling a robot cleaner according to another aspect includes the steps of generating a cleaning map of a designated area while the main body is traveling; Detecting an obstacle in the process of generating the cleaning map; Stopping the main body after driving toward the obstacle for a set time; Obtaining inclination information of the body with respect to the obstacle; Determining whether the area including the obstacle is a dangerous area based on the slope information; And when it is determined that the area where the detected obstacle is located is a dangerous area, the control unit stores the dangerous area in a storage unit and changes the driving direction of the main body to avoid the dangerous area.

The obtaining of the inclination information of the main body with respect to the obstacle may include measuring a first inclination with respect to the traveling direction of the main body and a second inclination in a direction intersecting with the traveling direction of the main body by a tilt measurement unit, It may include calculating a distance between the obstacle and the body based on the measured first and second inclinations, and determining a level of inclination of the body by comparing the measured distance and a set value.

When the distance between the obstacle and the main body is larger than the first set value, the area including the position of the obstacle may be normally driven and matched to the cleaning map as a overcomeable first driving area.

The control unit, when the distance between the obstacle and the body is included in the first set value to a second set value range smaller than the first set value, the main body rotates the area including the obstacle It is possible to match the cleaning map as a second driving area that can be overcome.

When the distance between the obstacle and the main body is smaller than the second set value, the control unit may match the area including the obstacle as a danger area with the cleaning map.

Using a slope with respect to the traveling direction of the main body and a tilt in a direction crossing the traveling direction of the main body by a tilt measurement unit, the position information of the obstacle is obtained, and based on the obtained position information of the obstacle, the The danger area can be saved in the cleaning map.

According to the present embodiment, the robot cleaner may determine whether the robot cleaner can travel with respect to the detected obstacle using information on the inclination of the main body generated by the obstacle. Accordingly, since the reliability of the cleaning map can be improved, there is an advantage in that cleaning efficiency is improved.

In particular, the robot cleaner may check the level of inclination of the body with respect to the obstacle using a principle in which the distance between the body and the obstacle is inversely proportional to the tilt of the robot cleaner body with respect to the obstacle without having a separate detection sensor. Accordingly, while the configuration of the robot cleaner is simplified, the obstacle recognition performance is improved.

In addition, the robot cleaner may classify the detected obstacle into one of an obstacle that can be overcome by normal driving, an obstacle that can be overcome through rotational driving, and an obstacle that is difficult to overcome based on the distance between the main body and the obstacle. Therefore, there is an advantage in that the cleaning performance of the robot cleaner is further improved.

1 is a perspective view of a robot cleaner according to an embodiment of the present invention.
2 is a block diagram showing a control configuration of a robot cleaner according to an embodiment of the present invention.
3 is a view showing an example of an indoor space for performing cleaning according to an embodiment of the present invention.
4 is a diagram showing a cleaning map created by the control method of the robot cleaner of FIG. 3.
5 is a flow chart showing a control method of the robot cleaner according to an embodiment of the present invention.
6 is a diagram schematically illustrating a lower obstacle and a robot cleaner for explaining a process of recognizing a lower obstacle according to an embodiment of the present invention.
7 is a view showing that a lower obstacle is set as a dangerous area in the cleaning map according to an embodiment of the present invention.
8 is a schematic view showing a robot cleaner avoiding a dangerous area according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In addition, in describing the constituent elements of the embodiment of the present invention, terms such as first, second, A, B, (a), (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected or connected to that other component, but another component between each component It should be understood that may be “connected”, “coupled” or “connected”.

[Configuration of robot vacuum cleaner]

1 is a perspective view of a robot cleaner according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a control configuration of a robot cleaner according to an embodiment of the present invention.

Referring to FIGS. 1 and 2, a robot cleaner 1 according to an exemplary embodiment of the present invention may include a body 10 forming an external shape.

A suction unit (not shown) for suction power may be provided inside the main body 10. A suction port (not shown) through which air including dust is sucked may be provided under the main body 10.

The robot cleaner 1 may include a power unit 100 that has a rechargeable power supply means and supplies power into the robot cleaner.

The power unit 100 supplies operation power according to the movement of the robot cleaner 1 and performing cleaning. In addition, when power is insufficient, the robot cleaner 1 may be docked to a charging base (not shown) separately provided. In addition, the power supply means of the power unit 100 may be charged by receiving a charging current from the charging table.

The robot cleaner 1 may further include an input unit 200 capable of receiving a control command from the outside or receiving a command for outputting one or more pieces of information.

The input unit 200 may include one or more input buttons. In addition, in order for the user to easily press the input button, the input button may be provided on the upper surface of the main body 10. In addition, the user may input commands for controlling the robot cleaner 1 such as a cleaning map, a cleaning area, location information, obstacle information, and a cleaning mode through the input button.

On the other hand, a separate terminal (not shown) connected wirelessly or wired to the robot cleaner 1 is additionally provided, and the user may input a control command to the robot cleaner 1 using the terminal. .

The robot cleaner 1 may further include an output unit 300 that displays status information or output information about a command input to the input unit 200.

The output unit 300 is any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED). It is formed as a single device, so it can print letters or pictures. In addition, the output unit 300 may include means for outputting sound such as a beeper or a speaker.

The robot cleaner 1 may further include a driving unit 400 for moving the robot cleaner 1. The driving unit 400 may be provided in the main body 10.

The driving unit 400 may include one or more wheels 410 in the main body 10 and a motor (not shown) for driving the one or more wheels 410.

In this specification, for convenience of description, the main body 10 will be described as having a pair of wheels 410.

The motor may be controlled by a control unit 900 to be described later. Accordingly, according to the control of the control unit 900, the robot cleaner 1 may move forward or backward, and may turn left or right.

The robot cleaner 1 may further include a storage unit 800 that stores various types of information such as status information, location information, and cleaning mode.

The storage unit 800 may store a predetermined cleaning map. The cleaning map may include an area in which an obstacle is located and a danger area including an area surrounding the area in which the obstacle is located. The details of the danger area will be described later.

Define the direction.

When the driving unit 400 is driven in the forward direction, the robot cleaner 1 may advance. On the other hand, when driven in the reverse direction of the driving unit 400, the robot cleaner 1 may move backward.

In addition, the direction in which one surface of the robot cleaner 1 facing the ceiling surface is located is above the robot cleaner 1, and the direction in which one surface of the robot cleaner 1 facing the floor surface is located is the robot It is below the vacuum cleaner 1.

The robot cleaner 1 may further include a camera sensor 500 for obtaining external image information.

The camera sensor 500 may be provided on an upper surface of the robot cleaner 1. In addition, image information on the upper side of the robot cleaner 1 may be obtained. In addition, the camera sensor 500 may be additionally installed on the lower surface of the robot cleaner 1. A camera sensor installed on the lower surface of the robot cleaner 1 may acquire image information on the lower side of the robot cleaner 1.

The robot cleaner 1 may further include a location recognition unit 600 for recognizing the current location of the robot cleaner 1 in the cleaning area.

The location recognition unit 600 may include, for example, a speed sensor (not shown) for obtaining current speed information of the robot cleaner 1, and a gyro sensor (not shown) for obtaining direction change information of the robot cleaner 1 Poem), etc.

Further, the current location of the robot cleaner 1 may be determined based on the information acquired by the sensors and the information acquired by the camera sensor 500.

The robot cleaner 1 may further include an obstacle detection unit 700 for detecting an obstacle.

The obstacle detection unit 700 may detect an obstacle that is moving within the cleaning area or around the robot cleaner. The obstacle detection unit 700 may include a plurality of sensors. And each sensor may have different unique sensing characteristics.

The plurality of detection sensors may include an obstacle detection sensor 710 for measuring a height or depth of an obstacle in front, and a tilt measurement sensor 720 for measuring an inclined state of the robot cleaner 1 have.

The obstacle detection sensor 710 may be positioned on the lower surface of the main body 10 to measure the height or depth of the lower surface of the main body 10. In addition, in order to measure the height or depth of an object in the driving direction of the robot cleaner 1, the obstacle detection sensor 710 may be additionally installed on the front surface of the main body 10, for example. The obstacle detection sensor 710 may include, for example, a laser sensor, an ultrasonic sensor, or the like.

The tilt measurement sensor 720 measures a coordinate value of the body 10 based on an X- and Y-axis coordinate system at a point in time when a lower obstacle is recognized by the obstacle detection sensor 710.

In detail, the traveling direction of the main body 10 may be understood as a Y axis. In addition, the left and right directions of the main body 10 with respect to the traveling direction may be understood as the X axis. The tilt measurement sensor 720 may include, for example, at least one of an acceleration sensor and a gyro sensor.

Information on the X and Y axes measured by the tilt measurement sensor 720 may be transmitted to the control unit 900. The control unit 900 may calculate a degree and a direction in which the main body 10 is inclined using the information on the X and Y axes. More details of calculating the inclination degree and direction of the main body 10 by the control unit 900 will be described later.

The robot cleaner 1 searches for a cleaning area in an indoor space to generate a cleaning map, and a module (power unit 100, input unit 200, output unit 300) provided in the main body 10, driving The unit 400, the camera sensor 500, the location recognition unit 600, the obstacle detection unit 700, and further includes a control unit 900 capable of performing cleaning by controlling each of the storage unit 800 can do.

The cleaning map generated by the control unit 900 may be stored in the storage unit 800. Further, the control unit 900 may search for a cleaning area for a command input to the input unit 200 or perform cleaning based on the cleaning map stored in the storage unit 800. In this case, in a process of running or cleaning the robot cleaner 1, the control unit 900 may generate a cleaning map using techniques such as wall search and cell division.

In this specification, since it is a known technique to generate a cleaning map using techniques such as wall search and cell division, detailed information about this is omitted.

The control unit 900 can determine the current location of the robot cleaner 1 on a cleaning map by referring to the information stored in the storage unit 800, and based on the movement path of the robot cleaner 1 It is possible to identify areas that have been cleaned and areas that have not been cleaned.

In addition, the control unit 900 may control the obstacle detection unit 700 to determine whether the driving cleaning area is a dangerous area. The danger area may mean an area in which an obstacle that stops the driving of the robot cleaner 1 is located.

For example, the robot cleaner 1 may stay within a set range for a set time by an obstacle sensed by the obstacle detecting unit 700. In this case, the control unit 900 may store an area with an obstacle as a danger area in the storage unit 800. Conversely, even if an obstacle is detected by the obstacle detection unit 700, the robot cleaner 1 may leave the area where the obstacle is detected without changing the driving direction.

As another example, even if the obstacle detection unit 700 does not detect an obstacle, the robot cleaner 1 may remain within a set range for a set time. In this case, the robot cleaner 1 may be limited to movement by an obstacle that is not detected by the obstacle detection unit 700.

Accordingly, the control unit 900 may store an area remaining within the set range for a set time as a danger area in the storage unit 800. Therefore, there is an advantage of being able to more accurately determine the danger area with obstacles.

Accordingly, when a dangerous area is detected while the robot cleaner 1 is traveling, the control unit 900 may switch the traveling direction of the robot cleaner 1. Accordingly, it is possible to reduce a phenomenon in which the robot cleaner 1 is stopped by an obstacle.

Meanwhile, as described above, in order to measure time to check whether the robot cleaner 1 is abnormal or not, the robot cleaner 1 may further include a timer (not shown) capable of measuring time.

The control unit 900 may match the detected dangerous area to the cleaning map and store it in the storage unit 800.

[Cleaning map in which hazardous areas are set by the control unit]

3 is a diagram showing an example of an indoor space for cleaning according to an embodiment of the present invention, and FIG. 4 is a view showing a cleaning map created by the control unit of the robot cleaner of FIG. 3.

3 and 4, the robot cleaner 1 may create a cleaning map shown in FIG. 4 while traveling in the indoor space A shown in FIG. 3.

For example, the control unit 900 may create a cleaning map by dividing it into a plurality of blocks. Further, the control unit 900 may create the cleaning map by dividing an area where cleaning is possible and an area where cleaning is restricted while driving the indoor space A. The number or size of the blocks may be set by the user. The size of the block may be set to 10 cm in width and 10 cm in height, for example.

Meanwhile, when the indoor space A is described in more detail, reference numeral B may denote a separate space in which a step difference between the indoor space A and a predetermined height is formed.

The indoor space A may be located higher than the space shown in reference numeral B. The reference numeral B may mean, for example, a front door.

In addition, although the reference numeral C is placed on the floor, it may denote an obstacle through which the robot cleaner 1 can travel. For example, reference numeral C may mean a carpet.

Reference numeral D may denote an obstacle having a lower space in which the robot cleaner 1 can travel. The reference numeral D may mean, for example, a table.

Also, reference numeral E may denote an obstacle having a lower space through which the robot cleaner 1 cannot enter. For example, reference numeral E may mean a bed.

Meanwhile, while the robot cleaner 1 is traveling, the control unit 900 may check whether an obstacle is detected through the obstacle detecting unit 700. The control unit 900 may detect an obstacle using the obstacle detection sensor 710. When the height of the obstacle in the traveling direction of the robot cleaner 1 is higher than the floor surface, the control unit 900 may detect that there is an obstacle in front of the robot cleaner 1.

The obstacle may include, for example, a wall forming the outer periphery of the indoor space (A), a carpet (C), a table (D), a bed (E), and the like.

Alternatively, when the obstacle in the traveling direction of the robot cleaner 1 is lower than the floor surface on which the robot cleaner is traveling, the control unit 900 may detect that there is an obstacle in front of the robot cleaner 1 . The obstacle may be, for example, a cliff formed by a step that separates the indoor space A and the entrance B.

When it is determined that the area where the obstacle is detected is impossible to enter, the control unit 900 may register (or store) the area where the obstacle is detected as the dangerous area and register (or store) in the storage unit 800 . That is, the dangerous area set by the control unit 900 may be matched on a cleaning map and stored in the storage unit 800.

Accordingly, when the robot cleaner 1 is traveling toward an area including the dangerous area during the cleaning process, the robot cleaner 1 may change the direction and travel to avoid the dangerous area. .

Hereinafter, a method for the control unit 900 to recognize an obstacle based on the tilt information of the main body 10 will be described.

[How to recognize obstacles of robot cleaner]

5 is a diagram schematically illustrating a lower obstacle and a robot cleaner for explaining a process of recognizing a lower obstacle according to an embodiment of the present invention.

Referring to FIG. 5, the control unit 900 may recognize an obstacle in front or side with respect to the center of the main body 10 through the obstacle detection unit 700.

When it is recognized that there is an obstacle in the front or the side by the obstacle detection unit 700, the control unit 900 can measure the inclination values of each of the X-axis and Y-axis using the tilt measurement sensor 720. have.

In addition, through the calculation process using Equations 1 and 2 below, the level of inclination of the body 10 due to the obstacle and the direction in which the obstacle is located may be calculated.

<Method of measuring the inclination level of the main body 10 due to obstacles>

First, the control unit 900 may calculate the distance between the main body 10 and the obstacle through'Equation 1'below.

In'Equation 1', the symbol'S' may be understood as distance information between a point predicted as the center of the obstacle O and the center of the body 10. In addition, the symbol'Xa' may be understood as an X-axis tilt value of the body 10 measured by the tilt measurement sensor 720. Further, the symbol'Ya' may be understood as a Y-axis tilt value of the main body 10 measured by the tilt measurement sensor 720. In addition, the symbol'B' can be understood as a physical constant set by a designer to reduce errors through experiments.

According to'Equation 1', by using the X-axis and Y-axis inclination values generated while the main body 10 is traveling, the control unit 900 is used between the center of the obstacle O and the center between the main body 10. Distance information can be obtained. The control unit 900 may determine whether or not the main body 10 overcomes the obstacle by using distance information between the center of the main body 10 and the center of the obstacle O.

In detail, the distance between the center of the main body 10 and the center of the obstacle O may be inversely proportional to the inclination level of the main body 10. For example, as the distance between the center of the main body 10 and the center of the obstacle O increases, it may be understood that the obstacle O having a small inclination level (or a gentle inclination) is located. As the inclination level of the obstacle O decreases, it may be more advantageous to overcome the obstacle of the main body 10.

Accordingly, when it is recognized that the distance between the center of the main body 10 and the center of the obstacle O is greater than or equal to the set value, the control unit 100 may recognize the obstacle O as an obstacle capable of being overcome. In addition, the area where the overcomeable obstacle is located may be stored on the cleaning map.

Conversely, as the distance between the center of the main body 10 and the center of the obstacle O becomes closer, it may be understood that the obstacle O having a large inclination level (or steeper inclination) is located. As the inclination level of the obstacle O increases, overcoming the obstacle of the main body 10 may be disadvantageous.

Accordingly, when it is recognized that the distance between the center of the main body 10 and the center of the obstacle O is smaller than the set value, the control unit 100 can identify the obstacle O as an obstacle that is difficult to overcome. In addition, an area in which the obstacle that is difficult to overcome may be set as a dangerous area and matched on the cleaning map.

<Method of obtaining location information of obstacles for the driving direction of the robot cleaner body>

Next, the control unit 900 may obtain location information (or direction information) of an obstacle with respect to the driving direction of the main body 10 through Equation 2 below.

In'Equation 2', the symbol'θ' may be understood as information on the position of the obstacle with respect to the main body 10 (or degree). In addition, the symbol'Xa' may be understood as an X-axis tilt value of the body 10 measured by the tilt measurement sensor 720. Further, the symbol'Ya' may be understood as a Y-axis tilt value of the main body 10 measured by the tilt measurement sensor 720.

Through the'Equation 2'equation, the control unit 900 may recognize direction information in which the obstacle is located based on the center of the main body 10.

<Interference information set in the cleaning map>

6 is a view showing that an obstacle recognized as impossible to enter a cleaning map according to an embodiment of the present invention is set as a dangerous area, and FIG. 7 is a robot cleaner for avoiding a dangerous area according to an embodiment of the present invention. It is a schematic diagram.

Referring to FIG. 6, when an obstacle is recognized by the obstacle detection sensor 710, the control unit 900 controls the driving unit 400 to drive the main body 10 toward the obstacle for a set time. You can stop after making it.

In other words, under the control of the driving unit 400 of the control unit 900, the main body 10 may climb the obstacle having a height for a set time and then stop. Alternatively, under the control of the driving unit 400 of the control unit 900, the main body 10 may stop after traveling for a set time with respect to an obstacle having a depth.

After stopping the main body 10, the control unit 900 may obtain distance information between the main body 10 and the obstacle, and information on the position of the obstacle.

In addition, the control unit 900 may match any one of a dangerous area and an available driving area to the cleaning map based on the distance information and the direction information.

The danger area may be understood as an area in which there is an obstacle to which the main body 10 is restricted. The dangerous area may be set as an abnormal block on a cleaning map divided into a plurality of blocks. As shown, the abnormal block may be indicated by'X'. However, the display of the abnormal block is not limited to the'X' symbol, and may be set in a language, number, etc. available to the control unit 900.

The control unit 900 may select a location for setting the abnormal block (a direction calculated by the presence of the obstacle) using the direction information. In addition, the control unit 900 may set a set number of abnormal blocks on the cleaning map based on distance information (or slope information) calculated through Equation 1.

Accordingly, the dangerous area may be matched to the cleaning map through the abnormal block setting. The method of setting the abnormal block forming the dangerous area may be previously stored in the storage unit 600. For example, when an obstacle sensed through the obstacle detection sensor 710 is an obstacle that the main body 10 is difficult to overcome, the control unit 900 radiates the abnormal block based on the center of the obstacle. It can be set to distribute. In this case, the number of abnormal blocks forming the danger area may be a preset number.

As another example, the control unit 900 may set the number of abnormal blocks forming the danger area to be proportional to the distance between the center of the main body 10 and the center of the obstacle.

On the other hand, the driveable area may be understood as an area in which there is an obstacle to which the main body 10 can be driven. For example, obstacles that may allow the main body 10 to travel may include a threshold, a carpet, and the like. The driveable area may be set as a normal block separated from the abnormal block.

Referring to FIG. 7, while the main body 10 is running, the control unit 900 may monitor detection of an obstacle using an obstacle detection sensor 700. In detail, the control unit 900 may detect an obstacle while driving through the obstacle detection sensor 710.

When an obstacle is detected by the obstacle detection sensor 710, the control unit 900 may check whether the area where the obstacle is located corresponds to any one of the dangerous area, the unset area, and the drivable area. .

If it is recognized as the danger zone, as shown, the control unit 900 may control the drive unit 400 so that the main body 10 avoids the danger zone.

Meanwhile, when the area where the obstacle is located is an unset area, the control unit may obtain information on the obstacle through Equations 1 and 2. In addition, by comparing the information on the obstacle and the information stored in the storage unit 800, it is possible to check whether the area where the obstacle is located is a dangerous area.

In addition, when the area where the obstacle is located is a driving area, the control unit 900 may control the driving unit 400 so that the main body 10 travels without avoiding the obstacle.

[How to Calculate Dangerous Area for Lower Obstacles According to Measurement Slope]

Hereinafter, a method of detecting a lower obstacle in an indoor space while the robot cleaner 1 performs cleaning, and setting the danger area based on the detected information will be described.

8 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.

Referring to FIG. 8, the control unit 900 of the robot cleaner 1 may operate based on a control mode selected by a user's command (S11). That is, the control unit 900 may control the driving unit 400 based on a user's command input to the input unit 200.

The control mode may include, for example, a mode for generating a cleaning map for cleaning, a mode for generating a cleaning map while performing cleaning, and a mode for performing cleaning based on a para-generated cleaning map.

However, in the present embodiment, for convenience of description, it will be described as generating a cleaning map while performing cleaning.

The control unit 900 of the robot cleaner 1 may perform cleaning according to a user's cleaning start command (S13).

As shown in FIG. 4, the control unit 900 may create a cleaning map by dividing a plurality of blocks. In addition, the control unit 900 may create the cleaning map by dividing a cleaning available area and a cleaning restricted area while driving the indoor space A. The number or size of the blocks may be set by the user.

While the robot cleaner 1 is traveling, the control unit 900 may check whether an obstacle is detected through the obstacle detecting unit 700 (S15).

The control unit 900 may detect an obstacle using height information or depth information measured by the obstacle detection sensor 710. When the height of the object in the traveling direction of the robot cleaner 1 is higher than the floor surface or the depth is lower than the floor surface, the control unit 900 detects that there is an obstacle in front of the robot cleaner 1 can do.

The obstacle may include, for example, a wall forming the outer periphery of the indoor space (A), a carpet (C), a table (D), a bed (E), a porch (B), and the like. The control unit 900 may control the driving unit 400 so that the main body 10 travels (or cleans) a designated area while monitoring whether an obstacle is detected (S15-S29).

On the other hand, when an obstacle is detected by the obstacle detection unit 700 while driving in a designated area, the control unit 900 moves the area in which the obstacle is sensed to any one of a driveable area, a danger area, and an unset area. You can check if it is one.

The driveable area may be understood as an area with obstacles that do not interfere with the driving of the main body 10. The driveable area may be set to one or more normal blocks that can be determined as an area in which the control unit 900 can perform cleaning. More details on the drivable area will be described later.

On the other hand, the danger area may be understood as an area in which there is an obstacle that obstructs the driving of the main body 10. In other words, driving of the main body 10 may be hindered by an obstacle in the danger area.

Accordingly, the danger zone may be an area in which the main body 10 changes direction for continued driving. The danger zone may be set as one or more abnormal blocks that are separated from the normal block and that the control unit 900 can determine to change the driving direction of the main body 10. As an example, the abnormal block may be indicated by an'X' as shown in FIG. 4.

When the area with the obstacle detected by the obstacle detection unit 700 is identified as a dangerous area (S17), the control unit 900 may avoid the dangerous area and continue driving (S18). The dangerous area may be in a state previously stored in the storage unit 800.

On the other hand, when the area in which the obstacle detected by the obstacle detection unit 700 is recognized as the unset area or the driveable area, the control unit 900 controls the driving unit 600 to control the main body. It may attempt to drive (or enter) toward the obstacle side (S19).

When the area in which the obstacle is located is recognized as an available driving area, the control unit 900 may control the driving unit 400 to perform driving. Here, the drivable area may include a first drivable area and a second drivable area.

The first driveable area may be understood as an area in which the main body 10 can overcome the obstacle through normal driving by the driving unit 400.

In addition, the second driveable area may be understood as an area in which an obstacle capable of driving the main body 10 is located through rotational driving by the driving unit 400.

Here, the rotational driving may be understood as overcoming the obstacle while the robot cleaner 1 rotates based on the center of the main body 10.

As another example, when it is recognized as the second driving area, the control unit 900 controls the driving unit 400 to move the main body 10 to the rear by a certain distance, and then to move it to the front again. It is also possible. In this case, the robot cleaner 1 may overcome the obstacle by acceleration of the main body 10.

On the other hand, when the area in which the obstacle detected by the obstacle detection unit 700 is in an unset area, the control unit 900 may check whether the driving is possible. The control unit 900 may acquire information on a current inclination of the main body 10 and an area in which an obstacle is located, using the inclination measuring unit 720, while entering an unset area.

In detail, the control unit 900, when the obstacle is detected, the information obtained from the inclination measurement unit 720 through the equations of the equations 1 and 2, the unset area is the dangerous area, driving It can be set as a possible area.

The control unit 900 may determine whether or not the main body 10 can enter the obstacle by checking the inclination level of the main body 10 (S21). The control unit 900 may obtain a current tilt value of the main body 10 by using the tilt measurement sensor 720.

In addition, the control unit 900 may calculate a distance between the center of the main body 10 and the center of the obstacle by applying the slope value to the'Equation 1'and'Equation 2'.

The calculated distance between the center of the main body 10 and the center of the obstacle may be used to predict the slope (or slope) of the obstacle. For example, when the distance between the center of the main body 10 and the center of the obstacle is small, it may be understood that the inclination (tilt) of the obstacle is rapid. As another example, when the distance between the center of the main body 10 and the center of the obstacle is large, it may be understood that the slope of the obstacle is gentle.

Hereinafter, for convenience of explanation, the distance between the center of the main body 10 and the center of the obstacle calculated by the control unit 900 is referred to as a'measurement distance value'.

The control unit 900 may compare the measured distance value and the first set distance value (first set value) to check whether the main body 10 can travel with respect to the detected obstacle (S21).

When it is recognized that the measured distance value is equal to or greater than the first set value, the control unit 900 may control the driving unit 400 so that the main body 10 travels the obstacle (S22).

In addition, the control unit 900 may match the area including the obstacle as the first driveable area with the cleaning map. The cleaning map in which the first driving area is matched may be stored in the storage unit 800.

Accordingly, when the robot cleaner 1 is driven the next time, the control unit 900 recognizes the area including the obstacle as the first available driving area, so that the driving can be performed without the need for a process of determining a dangerous area. (S22).

Meanwhile, when it is recognized that the measured distance value is less than the first set value, the control unit 900 may compare the measured distance value with a second set value less than the first set value (S23).

When the measured distance value falls between the first set value and the second set value, the control unit 900 rotates the drive unit 400 so that the main body 10 rotates to overcome the obstacle. It can be controlled (S24).

In detail, the control unit 900 may recognize that an obstacle sensed by the obstacle detection sensor 710 is an obstacle that can be overcome through rotation of the main body 10.

The control unit 900 may overcome the obstacle while rotating the main body 10. The robot cleaner 10 may overcome the obstacle by using a rotational force. Here, it can be understood that the rotational movement of the main body 10 rotates. In addition, the obstacle may be understood as, for example, a threshold.

In addition, the control unit 900 may store the area in which the obstacle is located in the storage unit 600 as a second driving area in which the obstacle can be driven by rotating.

In other words, the control unit 900 may set the area where the obstacle is located as the second driving area and match it to the cleaning map. Accordingly, since the obstacle is recognized as the second driving area when the robot cleaner 1 is driven next time, the obstacle can be overcome by rotating without the need for a hazardous area determination process.

On the other hand, in step S23, when it is recognized that the measured distance value is less than the second set value, the control unit 900 may store the area including the obstacle as a dangerous area in the storage unit 600. (S25).

Therefore, the next time the robot cleaner 1 runs, since the area containing the obstacle is recognized as a dangerous area, the control unit 900 avoids the dangerous area and runs without the need for a dangerous area determination process. The driving unit 400 may be controlled so as to be performed.

The control unit 900 may repeat the process of steps S13 to S27 until cleaning is completed (S29).

According to the present embodiment, since the reliability of the cleaning map of the robot cleaner 1 can be improved, cleaning efficiency is improved.

In addition, the robot cleaner 1 may determine whether or not the robot cleaner can run with respect to the detected obstacle, using tilt information of the robot cleaner body 10 generated by the obstacle.

In particular, the robot cleaner 1 uses the principle that the distance between the main body 10 and the obstacle is inversely proportional to the inclination of the main body 10 without having a separate detection sensor. You can check the slope level of 10). Accordingly, while the configuration of the robot cleaner 1 is simplified, there is an advantage in that the obstacle recognition performance is improved.

In addition, the robot cleaner 1 detects an obstacle based on the distance between the main body 10 and the obstacle, one of an obstacle that can be overcome by normal driving, an obstacle that can be overcome through rotational driving, and an obstacle that is difficult to overcome. Can be distinguished. Therefore, there is an advantage in that the cleaning performance of the robot cleaner 1 is further improved.

Claims (16)

A main body having a driving unit for movement;
An obstacle detection sensor provided in the body and detecting an obstacle;
A tilt measurement sensor for obtaining tilt information of the main body;
A storage unit for storing a cleaning map created based on a danger area including an area where an obstacle is located; And
And a control unit for performing cleaning while the main body avoids driving in a dangerous area written on the cleaning map,
The control unit,
Based on the inclination information of the main body, it is determined whether the main body can be driven with respect to the obstacle,
When it is determined that the obstacle is an obstacle for which the movement of the main body is restricted, the area including the obstacle is matched with the danger area on the cleaning map. The method of claim 1,
The dangerous area is a robot cleaner including a surrounding area of the area where the obstacle is located. The method of claim 1,
The tilt measurement sensor measures a tilt of the body in a traveling direction and a tilt in a direction crossing the traveling direction of the main body. The method of claim 3,
The control unit is a robot cleaner that recognizes a level of inclination of the body with respect to the obstacle based on two inclinations measured by the inclination measuring sensor. The method of claim 4,
The control unit,
Calculating a distance between the main body and the obstacle based on two inclinations measured by the inclination measurement sensor,
A robot cleaner that recognizes the level of inclination of the main body with respect to the obstacle using the calculated distance between the main body and the obstacle. The method of claim 5,
The robot cleaner, characterized in that the distance between the main body and the obstacle is in inverse proportion to a slope of the main body with respect to the obstacle. The method of claim 5,
The control unit,
When the distance between the main body and the obstacle is smaller than a preset value stored in the storage unit, the robot cleaner matches an area including the obstacle to the danger area on the cleaning map. The method of claim 5,
The control unit,
When the distance between the main body and the obstacle is greater than a first set value,
A robot cleaner, characterized in that matching the cleaning map to a first available driving area that can be overcome by running normally in an area including the location of the obstacle. The method of claim 8,
The control unit,
When the distance between the main body and the obstacle is within a range of the first set value to a second set value smaller than the first set value,
The robot cleaner, characterized in that matching the cleaning map with the area including the obstacle as a second driving area that can be overcome by rotating the body. The method of claim 3,
The control unit,
A robot cleaner that acquires direction information of the obstacle with respect to the main body based on information of inclination in each direction measured by the inclination sensor. Generating a cleaning map of the designated area while the main body is traveling;
Detecting an obstacle in the process of generating the cleaning map;
Stopping the main body after driving toward the obstacle for a set time;
Obtaining inclination information of the body with respect to the obstacle;
Determining whether the area including the obstacle is a dangerous area based on the slope information; And
When the area where the detected obstacle is located is determined to be a dangerous area, the control unit stores the dangerous area in a storage unit and switches the driving direction of the main body to avoid the dangerous area. Way. The method of claim 11,
Acquiring tilt information of the body with respect to the obstacle,
Measuring a first inclination with respect to the traveling direction of the main body and a second inclination in a direction crossing the traveling direction of the main body by a tilt measurement unit,
Calculating a distance between the obstacle and the body based on the measured first and second slopes,
Comprising the step of comparing the measured distance and a set value to determine the level of inclination of the main body. The method of claim 12,
When the distance between the obstacle and the main body is a large first set value,
A control method of a robot cleaner matching the cleaning map as a first available driving area that can be overcome by running normally in an area including the location of the obstacle. The method of claim 13,
The control unit,
When the distance between the obstacle and the body is included in the range of the first set value to the second set value smaller than the first set value,
A control method of a robot cleaner in which the area including the obstacle is matched with the cleaning map as a second driving area that can be overcome by rotating the body. The method of claim 14,
The control unit,
When the distance between the obstacle and the main body is smaller than the second set value, the control method of the robot cleaner is configured to match the area including the obstacle as a danger area with the cleaning map. The method of claim 11,
Using a slope with respect to the traveling direction of the main body and a tilt in a direction intersecting with the traveling direction of the main body by a tilt measuring unit, obtains position information of the obstacle,
A control method of a robot cleaner for storing the dangerous area in the cleaning map based on the acquired location information of the obstacle.

Images